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8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023

作者： Li, Jiaren Xu, Zhenyi Cao, Yang Xia, Xiushan Kang, Yu Anhui University AHU-IAI AI Joint Laboratory Hefei230601 China Ministry of Education Key Laboratory of System Control and Information Processing Shanghai200240 China Institute of Artificial Intelligence Hefei Comprehensive National Science Center Hefei230088 China University of Science and Technology of China Department of Automation Hefei230026 China Institute of Advanced Technology University of Science and Technology of China Hefei230088 China

ISBN: (纸本)9798350300178

China's ambient air quality has improved significantly as a result of the formulation and implementation of the Action Plan for the Prevention and control of Air Pollution and the Three-Year Action Plan for Winning the Blue Sky Defense War, but the air pollution problem in key regions remains severe, diesel truck pollution has not been effectively addressed, and mobile sources are an important source of nitrogen oxide emissions. The existing diesel vehicle emission model is primarily divided based on average vehicle speed and VSP binning methods, and it lacks an instantaneous vehicle speed model. This paper collected data from 10 diesel vehicles in order to accurately evaluate driving conditions and promote energy saving and emission reduction of heavy-duty diesel vehicles. Then we extracted 51,925 kinematic fragment data after cleaning abnormal data and built a kinematic feature evaluation system of diesel vehicles closely related to NOx emission. The sample data of kinematic segments were clustered into two groups of low-speed conditions and medium-speed conditions using the standardized mutual information to extract the characteristics with strong correlation with NOx and the vehicle driving conditions assessment model of cluster analysis. From the clustering results, the high NOx emission is completely classified into the low-speed working condition, which matches the conclusion that the high NOx emission region appears in the low-speed acceleration region reached by previous researchers through experimental studies, indicating that the kinematic feature evaluation model of diesel vehicles established in this paper is reasonable and effective. © 2023 IEEE.

关键词： Cluster analysis

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An Estimation Algorithm of Population Feature Distribution for the Imaging Constellation Task Planning Problem

An Estimation Algorithm of Population Feature Distribution f...

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Chinese control Conference (CCC)

作者： Yinan Ding Yongjun Lei Shuyi Wang Beijing Institute of Control Engineering Beijing China Science and Technology on Space Intelligent Control Laboratory Beijing China

An estimation algorithm of population feature distribution (EPFD) is proposed to improve the completion and imaging quality of imaging constellation observation tasks. Firstly, the observation task constraints and on-board resource constraints of agile imaging satellites are analyzed, the objective function of evaluating task completion and imaging quality is constructed, and the task planning model of agile imaging constellation is established. Then, the coding and decoding strategy with imaging time as the optimization object is designed. The concepts of global heuristic information and local heuristic information are given. A method for establishing the probability distribution model of imaging time based on heuristic information and a population evolution method are proposed. The directional search of imaging time is realized, and the completion of observation tasks and imaging quality are improved. Finally, the algorithm and particle swarm optimization algorithm are compared and analyzed through engineering examples. The results show that the algorithm has a fast convergence speed and a good optimization effect.

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Data Augmentation Integrated with Feature-Enhanced Convolutional Neural Network for Imbalanced Fault Diagnosis in Rolling Bearings 13

Data Augmentation Integrated with Feature-Enhanced Convoluti...

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13th IEEE Data Driven control and Learning Systems Conference, DDCLS 2024

作者： Wang, Li Qu, Qilin Wang, Yanwei Wong, David Shan-Hill Zheng, Ying School of Artificial Intelligence and Automation Huazhong University of Science and Technology China -Belt and Road Joint Laboratory on Measurement and Control Technology Wuhan430074 China School of Mechanical & Electrical Engineering Wuhan Institute of Technology 693 Chuxiong Road Wuhan430073 China National Tsing-Hua University Department of Chemical Engineering Hsinchu30071 Taiwan

ISBN: (纸本)9798350361674

Imbalance in fault samples is a key problem with most rolling bearing datasets in real industrial processes, limiting the performance of fault detection. In addition, existing fault diagnosis methods for rolling bearings do not adopt a modular division between the initial layer and the classification layer. This lack of modularization inhibits the full activation of the network's feature extraction capabilities and impedes subsequent model improvements. In this paper, a novel fault diagnosis method based on data augmentation integrated with a feature-enhanced convolutional neural network (DA-FECNN) is proposed. First, Variational Autoencoder-Generative Adversarial Network (VAE-GAN) is utilized to expand the number of fault samples and improve the diversity of few-shot. Second, a uniform feature-enhanced structure is designed with a feature extraction module, a multi-scale classification module, and a reconstruction module. The network's ability on feature extraction is improved by focusing on high quality features. Thereby, accurate fault classification is realized simultaneously. Experiments on real world data show the effectiveness of the proposed method on fault diagnosis task. © 2024 IEEE.

关键词： Convolutional neural networks

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Adaptive Finite-Time Reconfiguration control for spacecraft Formation with Collision Avoidance

Adaptive Finite-Time Reconfiguration Control for Spacecraft ...

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International Conference on Guidance, Navigation and control, ICGNC 2020

作者： Yang, Xicheng Zong, Qun Zhang, Xiuyun Liu, Wenjing School of Electrical Automation and Information Engineering Tianjin University Tianjin300072 China Beijing Institute of Control Engineering Science and Technology on Space Intelligent Control Laboratory Beijing100190 China

ISBN: (纸本)9789811581540

This paper studies formation reconstruction problem for multi-spacecraft with collision avoidance. Firstly, the virtual velocity for desired formation is designed based on the artificial potential field (APF) approach. An adaptive potential field for collision avoidance is proposed to enable the spacecraft to adjust the repulsion force automatically when implementing the collision avoidance strategy. An auxiliary function is introduced to solve the local minimum problem without destabilizing the multiple spacecraft system. Then, we propose a new adaptive finite-time reconfiguration controller, which can achieve fully distributed formation under collision avoidance. The stability of the multiple spacecraft system is proved by Lyapunov analysis. Simulation results verify the proposed strategy can accomplish the target of formation reconstruction successfully. © 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Collision avoidance

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A Thruster Configuration Method for spacecraft Six-Dimensional control

A Thruster Configuration Method for Spacecraft Six-Dimension...

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International Symposium on Autonomous Systems (ISAS)

作者： Min Wang Yongchun Xie Yan Su National Key Laboratory of Science and Technology on Space Intelligent Control Beijing Institute of Control Engineering Beijing China

The configuration of spacecraft thrusters directly affects the realization of precise automatic control and propellant consumption. At present, the design of thruster configuration lacks of theoretical guidance. spacecraft carrying out complex space missions such as rendezvous and docking are often equipped with too many thrusters. This paper proposed a theoretical design method of thruster configuration for six-dimensional position and attitude control missions. Firstly, the mathematical description of thruster configuration is introduced. Then, a general design method of thruster configuration for six-dimensional control task is proposed. Finally, simulation of relative position and attitude control of rendezvous and docking task is taken as an example to verify the correctness and validity of the above method.

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Position Errors and Interference Prediction-Based Trajectory Tracking for Snake Robots

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IEEE/CAA Journal of Automatica Sinica 2023年第9期10卷 1810-1821页

作者： Dongfang Li Yilong Zhang Ping Li Rob Law Zhengrong Xiang Xin Xu Limin Zhu Edmond Q.Wu IEEE School of Electrical Engineering and Automation Fuzhou UniversityFuzhou 350108 the Sino-US Global Logistics Institute Shanghai Jiao Tong UniversityShanghai 200240 the Key Laboratory for Agricultural Machinery Intelligent Control and Manufacturing of Fujian Education Institutions Fuzhou 350108China School of Biological Science and Medical Engineering and the Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education Beihang UniversityBeijing 100191China University of Macao Macao 999078China School of Automation Nanjing University of Science and TechnologyNanjing 210094China College of Intelligence Science and Technology National University of Defence TechnologyChangsha 410073China School of Mechanical Engineering Shanghai Jiao Tong UniversityShanghai 200240China Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China

This work presents a trajectory tracking control method for snake *** method eliminates the influence of time-varying interferences on the body and reduces the offset error of a robot with a predetermined *** optimized line-of-sight(LOS)guidance strategy drives the robot’s steering angle to maintain its anti-sideslip ability by predicting position errors and ***,the predictions of system parameters and viscous friction coefficients can compensate for the joint torque control *** compensation is adopted to enhance the compatibility of a robot within ever-changing *** and experimental outcomes show that our work can decrease the fluctuation peak of the tracking errors,reduce adjustment time,and improve accuracy.

关键词： Anti-sideslip compensation snake robot trajectory tracking

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Boundary control of a telescopic beam with elastic joints

Boundary control of a telescopic beam with elastic joints

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Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Tingting Meng Zhiji Han Xuena Zhao Shuang Zhang School of Intelligence Science and Technology University of Science and Technology Beijing Beijing China Key Laboratory of Perception and Control of Intelligent Bionic Unmanned Systems Ministry of Education University of Science and Technology Beijing Beijing China Institute of Artificial Intelligence University of Science and Technology Beijing Beijing China

ISBN: (数字)9798350379228

ISBN: (纸本)9798350390780

In this paper, an investigation is conducted on a beam system with elastic joints and a retractable configuration. Building upon the dynamics of the beam system, the dynamic characteristics of the retractable interface are comprehensively analyzed. The mathematical model of the system is established using the Hamiltonian principle. Subsequently, a boundary control stabilization system is designed based on the Lyapunov stability analysis theory. Finally, the designed controller’s effectiveness and the system’s ultimate stable state are validated through numerical simulations.

关键词： Automation Buildings Numerical simulation control systems Mathematical models Stability analysis Numerical models

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Design of a lightweight and easy-to-wear hand glove with multi-modal tactile perception for digital human

Design of a lightweight and easy-to-wear hand glove with mul...

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作者： Pan, Zhigeng Ren, Hongyi Liu, Chang Chen, Ming Mukherjee, Mithun Yang, Wenzhen School of Artificial Intelligence Nanjing University of Information Science and Technology Nanjing China Center for Space-based Computing Systems Zhejiang Laboratory Hangzhou China College of Mechanical Engineering Zhejiang Sci-Tech University Zhejiang Sci-Tech University Hangzhou China Center for Intelligent Manufacturing Computing Zhejiang Laboratory Hangzhou China

Within the field of human–computer interaction, data gloves play an essential role in establishing a connection between virtual and physical environments for the realization of digital human. To enhance the credibility of human-virtual hand interactions, we aim to develop a system incorporating a data glove-embedded technology. Our proposed system collects a wide range of information (temperature, bending, and pressure of fingers) that arise during natural interactions and afterwards reproduce them within the virtual environment. Furthermore, we implement a novel traversal polling technique to facilitate the streamlined aggregation of multi-channel sensors. This mitigates the hardware complexity of the embedded system. The experimental results indicate that the data glove demonstrates a high degree of precision in acquiring real-time hand interaction information, as well as effectively displaying hand posture in real-time using Unity3D. The data glove's lightweight and compact design facilitates its versatile utilization in virtual reality interactions. © 2024 John Wiley & Sons Ltd.

关键词： Virtual reality

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Heuristic Task Allocation Method for Heterogeneous Lunar Robots under Dynamic Resource Cost

Heuristic Task Allocation Method for Heterogeneous Lunar Rob...

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2024 IAF space Operations Symposium at the 75th International Astronautical Congress, IAC 2024

作者： Xu, Rui Zhou, Junhui Li, Zhaoyu Zhu, Shengying Pan, Bo Zhao, Zhijun Yu, Dengyun School of Aerospace Engineering Beijing Institute of Technology Beijing100081 China Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration Ministry of Industry and Information Technology Beijing100081 China Beijing Institute of Spacecraft System Engineering Beijing100094 China China Aerospace Science and Technology Corporation Beijing100048 China

ISBN: (纸本)9798331312183

China, in collaboration with multiple countries, is preparing to construct a long-term, independently operated international lunar research station on the surface of the moon in the coming years. The construction of an unmanned lunar research station requires the collaboration of diverse and heterogeneous lunar robots to successfully carry out missions. Task allocation for heterogeneous lunar robots is a crucial technical requirement, focusing on constructing evaluation matrix, designing optimization objective functions, and developing algorithms for optimization matching. The state changes during the execution of tasks by robots result in different resource costs for completing other task goals compared to the initial resource costs. Therefore, one of the major challenges in task allocation for multi-robot systems is effectively managing dynamic resource costs during the construction of evaluation matrix (and subsequent optimization based on the matrix). However, the current approach tends to calculate static cost without considering cost changes during task execution, which deviates from standard engineering practices. Instead, the primary contribution of this paper lies in designing a heuristic algorithm capable of optimizing task allocation outcomes while accounting for the dynamic changes in resource costs incurred during goal achievement. In this paper, we propose a heuristic task allocation method for heterogeneous lunar robots under dynamic resource cost. Given a multi-robot cooperative task, our method firstly constructs a task allocation model based on robotic capability and task resource consumption. Next, based on relaxation planning graph, the resource cost for each lunar rover to complete all task goals is calculated, and the cost of transitioning between different goal states is estimated (to efficiently update the resource cost of completing each goal as the lunar rover's state changes). Subsequently, the evaluation matrix is constructed. Then, a heu

关键词： Multipurpose robots

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QE-WNet: A Quadratic Encoding-decoding W-shape Network for Road Segmentation based from Optical Remote Sensing Imagery

QE-WNet: A Quadratic Encoding-decoding W-shape Network for R...

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Signal, Information and Data Processing (ICSIDP), IEEE International Conference on

作者： Shilong Fan Zhibao Su Yin Zhuang Jianlin Xie National Key Laboratory of Science and Technology on Space-Born Intelligent Information Processing (SBIIP) Beijing Institute of Technology China North Artificial Intelligence & Innovation Research Institute Beijing China China North Artificial Intelligence & Innovation Research Institute Collective Intelligence & Collaboration Laboratory Beijing China National Key Laboratory of Science and Technology on Space-Born Intelligent Information Processing (SBIIP) Beijing Institute of Technology Beijing China

ISBN: (数字)9798331515669

ISBN: (纸本)9798331515676

With advancements in imaging technology, high-resolution remote sensing images are now readily available for applications such as urban planning, resource assessment, and land cover analysis. Roads are a crucial element of infrastructure, and extracting road information from high-resolution remote sensing images is vital for tasks like urban planning and mapping. However, existing road extraction techniques, which rely on traditional encoder-decoder architectures, often struggle to accurately delineate road boundaries and surfaces. As a result, these methods tend to produce subpar outcomes and are challenging to implement in practical systems. To address this issue, we introduce a novel quadratic encoding-decoding W-shaped network, referred to as QE-WNet. This approach recognizes the differing characteristics of road bodies and boundaries—where road boundaries are more stable in semantic representation and road bodies are less so. In the first stage of encoding and decoding, we focus on modeling road boundaries, while the second stage emphasizes road bodies, leveraging the more stable secondary encoding-decoding information. This separation enhances the accuracy of road extraction. We conduct comparative experiments using several established methods on the Deepglobe dataset, and the results demonstrate the effectiveness of our proposed method.

关键词： Image segmentation Roads Urban planning Semantics Predictive models Feature extraction Encoding Decoding Data mining Remote sensing

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